• Title/Summary/Keyword: 3D Terrain

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Development of 3D Terrain Processing Platform Using Terrestrial Laser Scanning Data (지상레이저스캐닝 데이터를 활용한 3차원 지반지형 분석 플랫폼 개발)

  • Kim, Seok;Kim, Tae-Yeong
    • Proceedings of the Korean Institute of Building Construction Conference
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    • 2016.05a
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    • pp.227-228
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    • 2016
  • Terrestrial laser scanning (TLS) technology is being applied to various fields such as the soil volume calculation and the displacement measurement of terrain, tunnels and dams. This study develops a 3D terrain processing platform for automated earth work using a terrestrial laser scanning data as the software prototype. The developed software provides cells with geo-technical information for planning work to an integrated system.

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Multi-Image Stereo Technique Using Self-Consistency (자기 일치성을 이용한 다중 영상 스테레오 기법)

  • Kim, Min-Suk;Woo, Dong-Min
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.50 no.5
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    • pp.226-232
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    • 2001
  • The ability to efficiently and robustly recover accurate 3D terrain models from sets of stereoscopic images is important to many civilian and military applications. To develop an effective and practical terrain modeling system, we propose a new multi-image stereo method which detect unreliable elevations in DEM(Digital Elevation Map), and fuse several DEMs from multiple sources into an accurate and reliable results. This paper focuses on two key factors for generating robust 3D terrain models: the ability to detect unreliable elevation estimates and the ability to fuse the reliable elevations into a single optimal terrain model. We apply the self-consistency methodology to reconstruct accurate DEM from multi-image and show the method is more effective than the conventional stereo image 3D reconstruction method. Using photo-realistic simulator, four synthetic image are generated from ground truth DEM and orthoimage to evaluate the accuracy of the proposed method quantitatively.

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A Revised Fractal Technique With Fixed Midpoints For A Specific Terrain Model (고정 중간점을 허용하는 프랙탈 기법에 대한 연구)

  • No, Yong-Deok
    • The Transactions of the Korea Information Processing Society
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    • v.3 no.1
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    • pp.160-166
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    • 1996
  • In 2D and 3D computer graphics, fractal techniques have been applied ter rain models. In general, a specific 3D terrain model such as Cheju or Uleung Island could not beformulated by statistical fractalsowing to the randomeffects. However, by locating the control points on the edges and the surface of a specific terrain such as Cheju Island, a similar shape of the terrain model can be simulated. This paper presents the way of formulating a specific 3D terrain model by the statistical fractals with fixed midpoints.

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Dynamic Simulation of Modifiable Bipedal Walking on Uneven Terrain with Unknown Height

  • Hong, Young-Dae;Lee, Ki-Baek
    • Journal of Electrical Engineering and Technology
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    • v.11 no.3
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    • pp.733-740
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    • 2016
  • To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

Development of Registration Post-Processing Technology to Homogenize the Density of the Scan Data of Earthwork Sites (토공현장 스캔데이터 밀도 균일화를 위한 정합 후처리 기술 개발)

  • Kim, Yonggun;Park, Suyeul;Kim, Seok
    • KSCE Journal of Civil and Environmental Engineering Research
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    • v.42 no.5
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    • pp.689-699
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    • 2022
  • Recently, high productivity capabilities have been improved due to the application of advanced technologies in various industries, but in the construction industry, productivity improvements have been relatively low. Research on advanced technology for the construction industry is being conducted quickly to overcome the current low productivity. Among advanced technologies, 3D scan technology is widely used for creating 3D digital terrain models at construction sites. In particular, the 3D digital terrain model provides basic data for construction automation processes, such as earthwork machine guidance and control. The quality of the 3D digital terrain model has a lot of influence not only on the performance and acquisition environment of the 3D scanner, but also on the denoising, registration and merging process, which is a preprocessing process for creating a 3D digital terrain model after acquiring terrain scan data. Therefore, it is necessary to improve the terrain scan data processing performance. This study seeks to solve the problem of density inhomogeneity in terrain scan data that arises during the pre-processing step. The study suggests a 'pixel-based point cloud comparison algorithm' and verifies the performance of the algorithm using terrain scan data obtained at an actual earthwork site.

A Simulation of 3-D Navigation System of the Helicopter based on TRN Using Matlab

  • Kim, Eui-Hong;Lee, Hong-Ro
    • Spatial Information Research
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    • v.15 no.4
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    • pp.363-370
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    • 2007
  • This study has been carried for the development of the basic algorithm of helicopter navigation system based on TRN (Terrain Referenced Navigation) with information input from the GPS. The helicopter determines flight path due to Origination-Destination analysis on the Cartesian coordinate system of 3-D DTM. This system shows 3-D mesh map and the O-D flight path profile for the pilot's acknowledgement of the terrain, at first. The system builds TCF (terrain clearance floor) far the buffer zone upon the surface of ground relief to avid the ground collision. If the helicopter enters to the buffer zone during navigation, the real-time warning message which commands to raise the body pops up using Matlab menu. While departing or landing, control of the height of the body is possible. At present, the information (x, y, z coordinates) from the GPS is assumed to be input into the system every 92.8 m of horizontal distance while navigating along flight path. DTM of 3" interval has been adopted from that which was provided by ChumSungDae Co., Ltd..

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Real-Time Terrain Rendering using Quadtree Wavelet Transform (쿼드트리와 웨이블릿 변환을 이용한 실시간 지형 렌더링)

  • 한정현;박헌기;정문주
    • Journal of the Korea Society for Simulation
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    • v.10 no.3
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    • pp.95-103
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    • 2001
  • Rendering of 3D terrain data in real-time is difficult because of its large scale. So, it is necessary to use level-of-detail(LOD) that uses fewer data, but makes almost similar image to the original. We present an algorithm for real-time LOD generation and rendering of 3D terrain data. The algorithm applies wavelet transform to the terrain data, and then generates quadtree based view-dependent LOD using wavelet coefficients that are the output of wavelet transform. It also uses frame-to-frame coherence and view culling for high frame rates.

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Control Strategy for Modifiable Bipedal Walking on Unknown Uneven Terrain

  • Lee, Woong-Ki;Chwa, Dongkyoung;Hong, Young-Dae
    • Journal of Electrical Engineering and Technology
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    • v.11 no.6
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    • pp.1787-1792
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    • 2016
  • Previous walking pattern generation methods could generate walking patterns that allow only straight walking on flat and uneven terrain. They were unable to generate modifiable walking patterns whereby the sagittal and lateral step lengths and walking direction can be changed at every footstep. This paper proposes a novel walking pattern generation method to realize modifiable walking of humanoid robots on unknown uneven terrain. The proposed method employs a walking pattern generator based on the 3-D linear inverted pendulum model (LIPM), which enables a humanoid robot to vary its walking patterns at every footstep. A control strategy for walking on unknown uneven terrain is proposed. Virtual spring-damper (VSD) models are used to compensate for the disturbances that occur between the robot and the terrain when the robot walks on uneven terrain with unknown height. In addition, methods for generating the foot and vertical center of mass (COM) of the 3-D LIPM trajectories are developed to realize stable walking on unknown uneven terrain. The proposed method is implemented on a small-sized humanoid robot platform, DARwIn-OP and its effectiveness is demonstrated experimentally.

3D Ground Terrain Processing Platform for Automated Excavation System

  • Kim, Seok;Kim, Tae-yeong;Park, Jae-Woo
    • International conference on construction engineering and project management
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    • 2015.10a
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    • pp.669-670
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    • 2015
  • Efficient management of the construction heavy equipment is required to reduce the rate of carbon emissions and on-site accidents. The intelligent excavation system (IES) will improve the construction quality and productivity through information technologies and efficient equipment operation, especially in large earthwork projects. Three-dimensional digitized ground data should be required for identifying the path of heavy equipment and work-site environment. Rapid development of terrain laser scanners (TLS) is more readily to acquire the digital data. This study suggests the '3D ground terrain processing platform (3DGTPP)' including data manipulating module and analyzing module of the scanned data for intelligent earthmoving equipment operation. The processing platform consists of six modules, including scanning, registering, manipulating, analyzing, transmitting, and storing. 3D ground terrain processing platform presented in this study will provide fundamental information for intelligent excavation system (IES), which will increase the efficiency of earthworks and safety of workers in significant.

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Co-registration of Airborne Photo, LIDAR data, and Digital Map for construction of 3D Terrain Map - Using Linear Features (3차원 지형지도 작성을 위한 항공사진, LIDAR 데이터, 수치지도의 Co-registration 기법 연구 - Linear feature를 기반으로)

  • Lee Jae-Bin;Kim Ji-Young;Park Seung-Ryong;Yu Ki-Yun
    • Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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    • 2006.04a
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    • pp.235-241
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    • 2006
  • The demand of 3D terrain mapping techniques is increasing in many application fields such as CNS(Car Navigation System), web service system, DMB(Digital Multimedia Broadcasting) systems and etc To construct a 3D terrain map, it is a pre-requite step that register data collected from different surveying sources. This Paper Present the methodology to register airborne photo, LIDAR data, and digital map, which are major data sources to create a 3D terrain mao. For this purpose, we developed the generally applicable algorithm that uses linear features to register airborne photos and digital maps to LIDAR data. The algorithm explicitly formulates step-by-step methodologies to establish observation equations for transformation. The results clearly demonstrate the proposed algorithm is appropriate to register these data sources.

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